Avatar Debug Draw Default Pose now works

interface/src/avatar/MyAvatar.cpp

@@ -628,7 +628,7 @@ void MyAvatar::setEnableDebugDrawDefaultPose(bool isEnabled) {
     _enableDebugDrawDefaultPose = isEnabled;
 
     if (!isEnabled) {
-        AnimDebugDraw::getInstance().removeSkeleton("myAvatar");
+        AnimDebugDraw::getInstance().removeAbsolutePoses("myAvatarDefaultPoses");
     }
 }
 
@@ -636,7 +636,7 @@ void MyAvatar::setEnableDebugDrawAnimPose(bool isEnabled) {
     _enableDebugDrawAnimPose = isEnabled;
 
     if (!isEnabled) {
-        AnimDebugDraw::getInstance().removeAbsolutePoses("myAvatar");
+        AnimDebugDraw::getInstance().removeAbsolutePoses("myAvatarAnimPoses");
     }
 }
 
@@ -1261,27 +1261,27 @@ void MyAvatar::preRender(RenderArgs* renderArgs) {
 
         auto animSkeleton = _rig->getAnimSkeleton();
 
-        // bones are aligned such that z is forward, not -z.
-        glm::quat rotY180 = glm::angleAxis((float)M_PI, glm::vec3(0.0f, 1.0f, 0.0f));
-        AnimPose xform(glm::vec3(1), getOrientation() * rotY180, getPosition());
-
         if (_enableDebugDrawDefaultPose && animSkeleton) {
+            AnimPose xform(glm::vec3(1), getOrientation(), getPosition());
             glm::vec4 gray(0.2f, 0.2f, 0.2f, 0.2f);
-            AnimDebugDraw::getInstance().addSkeleton("myAvatar", animSkeleton, xform, gray);
+            AnimDebugDraw::getInstance().addAbsolutePoses("myAvatarDefaultPoses", animSkeleton, _rig->getAbsoluteDefaultPoses(), xform, gray);
         }
 
         if (_enableDebugDrawAnimPose && animSkeleton) {
             glm::vec4 cyan(0.1f, 0.6f, 0.6f, 1.0f);
 
-            auto rig = _skeletonModel.getRig();
+            // getJointTransforms are aligned such that z is forward, not -z.
+            // so they need a 180 flip
+            glm::quat rotY180 = glm::angleAxis((float)M_PI, glm::vec3(0.0f, 1.0f, 0.0f));
+            AnimPose xform(glm::vec3(1), getOrientation() * rotY180, getPosition());
 
             // build absolute AnimPoseVec from rig
             AnimPoseVec absPoses;
-            absPoses.reserve(rig->getJointStateCount());
+            absPoses.reserve(_rig->getJointStateCount());
             for (int i = 0; i < _rig->getJointStateCount(); i++) {
                 absPoses.push_back(AnimPose(_rig->getJointTransform(i)));
             }
-            AnimDebugDraw::getInstance().addAbsolutePoses("myAvatar", animSkeleton, absPoses, xform, cyan);
+            AnimDebugDraw::getInstance().addAbsolutePoses("myAvatarAnimPoses", animSkeleton, absPoses, xform, cyan);
         }
     }
 

libraries/animation/src/Rig.cpp

@@ -172,8 +172,9 @@ void Rig::destroyAnimGraph() {
 
 void Rig::initJointStates(const FBXGeometry& geometry, const glm::mat4& modelOffset) {
 
-    setModelOffset(modelOffset);
     _geometryOffset = AnimPose(geometry.offset);
+    setModelOffset(modelOffset);
+
     _animSkeleton = std::make_shared<AnimSkeleton>(geometry);
 
     computeEyesInRootFrame(_animSkeleton->getRelativeDefaultPoses());
@@ -181,7 +182,7 @@ void Rig::initJointStates(const FBXGeometry& geometry, const glm::mat4& modelOff
     _relativePoses.clear();
     _relativePoses = _animSkeleton->getRelativeDefaultPoses();
 
-    buildAbsolutePoses();
+    buildAbsoluteRigPoses(_relativePoses, _absolutePoses, true);
 
     _overridePoses.clear();
     _overridePoses = _animSkeleton->getRelativeDefaultPoses();
@@ -189,6 +190,8 @@ void Rig::initJointStates(const FBXGeometry& geometry, const glm::mat4& modelOff
     _overrideFlags.clear();
     _overrideFlags.resize(_animSkeleton->getNumJoints(), false);
 
+    buildAbsoluteRigPoses(_animSkeleton->getRelativeDefaultPoses(), _absoluteDefaultPoses);
+
     _rootJointIndex = geometry.rootJointIndex;
     _leftHandJointIndex = geometry.leftHandJointIndex;
     _leftElbowJointIndex = _leftHandJointIndex >= 0 ? geometry.joints.at(_leftHandJointIndex).parentIndex : -1;
@@ -207,7 +210,7 @@ void Rig::reset(const FBXGeometry& geometry) {
     _relativePoses.clear();
     _relativePoses = _animSkeleton->getRelativeDefaultPoses();
 
-    buildAbsolutePoses();
+    buildAbsoluteRigPoses(_relativePoses, _absolutePoses, true);
 
     _overridePoses.clear();
     _overridePoses = _animSkeleton->getRelativeDefaultPoses();
@@ -215,6 +218,8 @@ void Rig::reset(const FBXGeometry& geometry) {
     _overrideFlags.clear();
     _overrideFlags.resize(_animSkeleton->getNumJoints(), false);
 
+    buildAbsoluteRigPoses(_animSkeleton->getRelativeDefaultPoses(), _absoluteDefaultPoses);
+
     _rootJointIndex = geometry.rootJointIndex;
     _leftHandJointIndex = geometry.leftHandJointIndex;
     _leftElbowJointIndex = _leftHandJointIndex >= 0 ? geometry.joints.at(_leftHandJointIndex).parentIndex : -1;
@@ -244,13 +249,22 @@ int Rig::indexOfJoint(const QString& jointName) const {
     }
 }
 
-void Rig::setModelOffset(const glm::mat4& modelOffset) {
+void Rig::setModelOffset(const glm::mat4& modelOffsetMat) {
-    _modelOffset = AnimPose(modelOffset);
+    AnimPose newModelOffset = AnimPose(modelOffsetMat);
+    if (!isEqual(_modelOffset.trans, newModelOffset.trans) ||
+        !isEqual(_modelOffset.rot, newModelOffset.rot) ||
+        !isEqual(_modelOffset.scale, newModelOffset.scale)) {
 
-    // compute geometryToAvatarTransforms
+        _modelOffset = newModelOffset;
-    glm::quat yFlip180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
+
-    _geometryToRigTransform = AnimPose(glm::vec3(1), yFlip180, glm::vec3()) * _modelOffset * _geometryOffset;
+        // compute geometryToAvatarTransforms
-    _rigToGeometryTransform = glm::inverse(_geometryToRigTransform);
+        glm::quat yFlip180 = glm::angleAxis(PI, glm::vec3(0.0f, 1.0f, 0.0f));
+        _geometryToRigTransform = AnimPose(glm::vec3(1), yFlip180, glm::vec3()) * _modelOffset * _geometryOffset;
+        _rigToGeometryTransform = glm::inverse(_geometryToRigTransform);
+
+        // rebuild cached default poses
+        buildAbsoluteRigPoses(_animSkeleton->getRelativeDefaultPoses(), _absoluteDefaultPoses);
+    }
 }
 
 bool Rig::getJointStateRotation(int index, glm::quat& rotation) const {
@@ -430,12 +444,16 @@ void Rig::computeEyesInRootFrame(const AnimPoseVec& poses) {
 
 AnimPose Rig::getAbsoluteDefaultPose(int index) const {
     if (_animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints()) {
-        return AnimPose(_geometryToRigTransform) * _animSkeleton->getAbsoluteDefaultPose(index);
+        return _absoluteDefaultPoses[index];
     } else {
         return AnimPose::identity;
     }
 }
 
+const AnimPoseVec& Rig::getAbsoluteDefaultPoses() const {
+    return _absoluteDefaultPoses;
+}
+
 // animation reference speeds.
 static const std::vector<float> FORWARD_SPEEDS = { 0.4f, 1.4f, 4.5f }; // m/s
 static const std::vector<float> BACKWARD_SPEEDS = { 0.6f, 1.45f }; // m/s
@@ -719,7 +737,7 @@ void Rig::updateAnimations(float deltaTime, glm::mat4 rootTransform) {
     }
 
     applyOverridePoses();
-    buildAbsolutePoses();
+    buildAbsoluteRigPoses(_relativePoses, _absolutePoses, true);
 }
 
 void Rig::inverseKinematics(int endIndex, glm::vec3 targetPosition, const glm::quat& targetRotation, float priority,
@@ -1005,26 +1023,35 @@ void Rig::applyOverridePoses() {
     }
 }
 
-void Rig::buildAbsolutePoses() {
+// AJT: TODO: we should ALWAYS have the 180 flip.
+// However currently matrices used for rendering require it.
+// we need to find were the 180 is applied down the pipe and remove it,
+// cluster matrices? render parts?
+void Rig::buildAbsoluteRigPoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePosesOut, bool omitY180Flip) {
     if (!_animSkeleton) {
         return;
     }
 
-    ASSERT(_animSkeleton->getNumJoints() == (int)_relativePoses.size());
+    ASSERT(_animSkeleton->getNumJoints() == (int)relativePoses.size());
 
-    _absolutePoses.resize(_relativePoses.size());
+    // flatten all poses out so they are absolute not relative
-    for (int i = 0; i < (int)_relativePoses.size(); i++) {
+    absolutePosesOut.resize(relativePoses.size());
+    for (int i = 0; i < (int)relativePoses.size(); i++) {
         int parentIndex = _animSkeleton->getParentIndex(i);
         if (parentIndex == -1) {
-            _absolutePoses[i] = _relativePoses[i];
+            absolutePosesOut[i] = relativePoses[i];
         } else {
-            _absolutePoses[i] = _absolutePoses[parentIndex] * _relativePoses[i];
+            absolutePosesOut[i] = absolutePosesOut[parentIndex] * relativePoses[i];
         }
     }
 
-    AnimPose rootTransform(_modelOffset * _geometryOffset);
+    // transform all absolute poses into rig space.
+    AnimPose geometryToRigTransform(_geometryToRigTransform);
+    if (omitY180Flip) {
+        geometryToRigTransform = _modelOffset * _geometryOffset;
+    }
     for (int i = 0; i < (int)_absolutePoses.size(); i++) {
-        _absolutePoses[i] = rootTransform * _absolutePoses[i];
+        absolutePosesOut[i] = geometryToRigTransform * absolutePosesOut[i];
     }
 }
 

libraries/animation/src/Rig.h

@@ -88,7 +88,7 @@ public:
     int getJointStateCount() const;
     int indexOfJoint(const QString& jointName) const;
 
-    void setModelOffset(const glm::mat4& modelOffset);
+    void setModelOffset(const glm::mat4& modelOffsetMat);
 
     bool getJointStateRotation(int index, glm::quat& rotation) const;
     bool getJointStateTranslation(int index, glm::vec3& translation) const;
@@ -147,6 +147,7 @@ public:
     const glm::vec3& getEyesInRootFrame() const { return _eyesInRootFrame; }
 
     AnimPose getAbsoluteDefaultPose(int index) const;  // avatar space
+    const AnimPoseVec& getAbsoluteDefaultPoses() const;  // avatar space
 
     void copyJointsIntoJointData(QVector<JointData>& jointDataVec) const;
     void copyJointsFromJointData(const QVector<JointData>& jointDataVec);
@@ -155,7 +156,7 @@ public:
     bool isValid(int index) const { return _animSkeleton && index >= 0 && index < _animSkeleton->getNumJoints(); }
     void updateAnimationStateHandlers();
     void applyOverridePoses();
-    void buildAbsolutePoses();
+    void buildAbsoluteRigPoses(const AnimPoseVec& relativePoses, AnimPoseVec& absolutePosesOut, bool omitY180Flip = false);
 
     void updateLeanJoint(int index, float leanSideways, float leanForward, float torsoTwist);
     void updateNeckJoint(int index, const HeadParameters& params);
@@ -173,6 +174,8 @@ public:
     AnimPoseVec _overridePoses; // geometry space relative to parent.
     std::vector<bool> _overrideFlags;
 
+    AnimPoseVec _absoluteDefaultPoses; // avatar space, not relative to parent.
+
     glm::mat4 _geometryToRigTransform;
     glm::mat4 _rigToGeometryTransform;
 

libraries/render-utils/src/AnimDebugDraw.cpp

@@ -349,17 +349,6 @@ void AnimDebugDraw::update() {
 
         // AJT: FIX ME
         /*
-        for (auto& iter : _skeletons) {
-            AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
-            numVerts += skeleton->getNumJoints() * VERTICES_PER_BONE;
-            for (int i = 0; i < skeleton->getNumJoints(); i++) {
-                auto parentIndex = skeleton->getParentIndex(i);
-                if (parentIndex >= 0) {
-                    numVerts += VERTICES_PER_LINK;
-                }
-            }
-        }
-
         for (auto& iter : _animNodes) {
             AnimNode::ConstPointer& animNode = std::get<0>(iter.second);
             auto poses = animNode->getPosesInternal();
@@ -407,37 +396,6 @@ void AnimDebugDraw::update() {
         Vertex* verts = (Vertex*)data._vertexBuffer->editData();
         Vertex* v = verts;
 
-        // AJT: fixme
-        // draw skeletons
-        /*
-        for (auto& iter : _skeletons) {
-            AnimSkeleton::ConstPointer& skeleton = std::get<0>(iter.second);
-            AnimPose rootPose = std::get<1>(iter.second);
-            int hipsIndex = skeleton->nameToJointIndex("Hips");
-            if (hipsIndex >= 0) {
-                rootPose.trans -= skeleton->getRelativeBindPose(hipsIndex).trans;
-            }
-            glm::vec4 color = std::get<2>(iter.second);
-
-            for (int i = 0; i < skeleton->getNumJoints(); i++) {
-                AnimPose pose = skeleton->getAbsoluteBindPose(i);
-
-                const float radius = BONE_RADIUS / (pose.scale.x * rootPose.scale.x);
-
-                // draw bone
-                addBone(rootPose, pose, radius, v);
-
-                // draw link to parent
-                auto parentIndex = skeleton->getParentIndex(i);
-                if (parentIndex >= 0) {
-                    assert(parentIndex < skeleton->getNumJoints());
-                    AnimPose parentPose = skeleton->getAbsoluteBindPose(parentIndex);
-                    addLink(rootPose, pose, parentPose, radius, color, v);
-                }
-            }
-        }
-        */
-
         // AJT: FIXME
         /*
         // draw animNodes